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<p>Structure holding the parameters of the Unscented Kalman Filter.  
 <a href="structukf_1_1parameter_1_1ukf__param.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="ukf__types_8h_source.html">ukf_types.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:a6226f46479a98fdeb1321d49680e76ed"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__param.html#a6226f46479a98fdeb1321d49680e76ed">kpa</a></td></tr>
<tr class="memdesc:a6226f46479a98fdeb1321d49680e76ed"><td class="mdescLeft">&#160;</td><td class="mdescRight"><img class="formulaInl" alt="$\kappa \geq 0$" src="form_11.png"/>, <img class="formulaInl" alt="$\kappa = 0$" src="form_12.png"/> is a good choice. According to van der Merwe, its value is not critical  <a href="#a6226f46479a98fdeb1321d49680e76ed">More...</a><br/></td></tr>
<tr class="separator:a6226f46479a98fdeb1321d49680e76ed"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a41e15863dacadc709c856810fec793da"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__param.html#a41e15863dacadc709c856810fec793da">alpha</a></td></tr>
<tr class="memdesc:a41e15863dacadc709c856810fec793da"><td class="mdescLeft">&#160;</td><td class="mdescRight"><img class="formulaInl" alt="$0 \leq \alpha \leq 1$" src="form_13.png"/> : "Size" of sigma-point distribution. Should be small if the function is strongly non-linear  <a href="#a41e15863dacadc709c856810fec793da">More...</a><br/></td></tr>
<tr class="separator:a41e15863dacadc709c856810fec793da"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3afc7edee6fb3dd28849f2219c079b30"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__param.html#a3afc7edee6fb3dd28849f2219c079b30">beta</a></td></tr>
<tr class="memdesc:a3afc7edee6fb3dd28849f2219c079b30"><td class="mdescLeft">&#160;</td><td class="mdescRight">Non negative weights used to introduce knowledge about the higher order moments of the distribution. For gaussian distributions, <img class="formulaInl" alt="$\beta = 2$" src="form_14.png"/> is a good choice.  <a href="#a3afc7edee6fb3dd28849f2219c079b30">More...</a><br/></td></tr>
<tr class="separator:a3afc7edee6fb3dd28849f2219c079b30"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a989e990467f45b35957f7db9bd40a5e0"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__param.html#a989e990467f45b35957f7db9bd40a5e0">lambda</a></td></tr>
<tr class="memdesc:a989e990467f45b35957f7db9bd40a5e0"><td class="mdescLeft">&#160;</td><td class="mdescRight"><img class="formulaInl" alt="$\lambda = \alpha^2 (n + \kappa) - n$" src="form_15.png"/>  <a href="#a989e990467f45b35957f7db9bd40a5e0">More...</a><br/></td></tr>
<tr class="separator:a989e990467f45b35957f7db9bd40a5e0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6970c2f5c4289c9fa1fe95d83b69e579"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__param.html#a6970c2f5c4289c9fa1fe95d83b69e579">gamma</a></td></tr>
<tr class="memdesc:a6970c2f5c4289c9fa1fe95d83b69e579"><td class="mdescLeft">&#160;</td><td class="mdescRight"><img class="formulaInl" alt="$\gamma = \sqrt{\lambda + n}$" src="form_16.png"/>  <a href="#a6970c2f5c4289c9fa1fe95d83b69e579">More...</a><br/></td></tr>
<tr class="separator:a6970c2f5c4289c9fa1fe95d83b69e579"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a84f1c71ab2cd9fc6063790e9942637bd"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classukf_1_1parameter_1_1EvolutionNoise.html">EvolutionNoise</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__param.html#a84f1c71ab2cd9fc6063790e9942637bd">evolution_noise</a></td></tr>
<tr class="memdesc:a84f1c71ab2cd9fc6063790e9942637bd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Parameter used for the evolution noise.  <a href="#a84f1c71ab2cd9fc6063790e9942637bd">More...</a><br/></td></tr>
<tr class="separator:a84f1c71ab2cd9fc6063790e9942637bd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ade187fc4a6cf6c6e9a1fcb5cf8898985"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__param.html#ade187fc4a6cf6c6e9a1fcb5cf8898985">observation_noise</a></td></tr>
<tr class="memdesc:ade187fc4a6cf6c6e9a1fcb5cf8898985"><td class="mdescLeft">&#160;</td><td class="mdescRight">Covariance of the observation noise.  <a href="#ade187fc4a6cf6c6e9a1fcb5cf8898985">More...</a><br/></td></tr>
<tr class="separator:ade187fc4a6cf6c6e9a1fcb5cf8898985"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a898c9583fba45551ae39213dd2b212ba"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__param.html#a898c9583fba45551ae39213dd2b212ba">prior_pi</a></td></tr>
<tr class="memdesc:a898c9583fba45551ae39213dd2b212ba"><td class="mdescLeft">&#160;</td><td class="mdescRight">Prior estimate of the covariance matrix.  <a href="#a898c9583fba45551ae39213dd2b212ba">More...</a><br/></td></tr>
<tr class="separator:a898c9583fba45551ae39213dd2b212ba"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afdb1ce39c4a72e31df41314e2e4c4090"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__param.html#afdb1ce39c4a72e31df41314e2e4c4090">n</a></td></tr>
<tr class="memdesc:afdb1ce39c4a72e31df41314e2e4c4090"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of parameters to estimate.  <a href="#afdb1ce39c4a72e31df41314e2e4c4090">More...</a><br/></td></tr>
<tr class="separator:afdb1ce39c4a72e31df41314e2e4c4090"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adf4a8620c9c81e339861b1c8a40f8809"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__param.html#adf4a8620c9c81e339861b1c8a40f8809">nbSamples</a></td></tr>
<tr class="memdesc:adf4a8620c9c81e339861b1c8a40f8809"><td class="mdescLeft">&#160;</td><td class="mdescRight"><img class="formulaInl" alt="$nbSamples = (2 n + 1)$" src="form_17.png"/> Number of sigma-points  <a href="#adf4a8620c9c81e339861b1c8a40f8809">More...</a><br/></td></tr>
<tr class="separator:adf4a8620c9c81e339861b1c8a40f8809"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6672a2098cafbda39c6bd4946ca701ad"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__param.html#a6672a2098cafbda39c6bd4946ca701ad">no</a></td></tr>
<tr class="memdesc:a6672a2098cafbda39c6bd4946ca701ad"><td class="mdescLeft">&#160;</td><td class="mdescRight">Dimension of the output.  <a href="#a6672a2098cafbda39c6bd4946ca701ad">More...</a><br/></td></tr>
<tr class="separator:a6672a2098cafbda39c6bd4946ca701ad"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Structure holding the parameters of the Unscented Kalman Filter. </p>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="example-001_8cc-example.html#_a0">example-001.cc</a>, <a class="el" href="example-002_8cc-example.html#_a0">example-002.cc</a>, <a class="el" href="example-003_8cc-example.html#_a2">example-003.cc</a>, <a class="el" href="example-004_8cc-example.html#_a0">example-004.cc</a>, <a class="el" href="example-005_8cc-example.html#_a0">example-005.cc</a>, and <a class="el" href="example-006_8cc-example.html#_a0">example-006.cc</a>.</dd>
</dl></div><h2 class="groupheader">Member Data Documentation</h2>
<a class="anchor" id="a41e15863dacadc709c856810fec793da"></a>
<div class="memitem">
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          <td class="memname">double ukf::parameter::ukf_param::alpha</td>
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</div><div class="memdoc">

<p><img class="formulaInl" alt="$0 \leq \alpha \leq 1$" src="form_13.png"/> : "Size" of sigma-point distribution. Should be small if the function is strongly non-linear </p>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="example-001_8cc-example.html#a4">example-001.cc</a>, <a class="el" href="example-002_8cc-example.html#a4">example-002.cc</a>, <a class="el" href="example-003_8cc-example.html#a6">example-003.cc</a>, <a class="el" href="example-004_8cc-example.html#a5">example-004.cc</a>, <a class="el" href="example-005_8cc-example.html#a5">example-005.cc</a>, and <a class="el" href="example-006_8cc-example.html#a4">example-006.cc</a>.</dd>
</dl>
</div>
</div>
<a class="anchor" id="a3afc7edee6fb3dd28849f2219c079b30"></a>
<div class="memitem">
<div class="memproto">
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          <td class="memname">double ukf::parameter::ukf_param::beta</td>
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<p>Non negative weights used to introduce knowledge about the higher order moments of the distribution. For gaussian distributions, <img class="formulaInl" alt="$\beta = 2$" src="form_14.png"/> is a good choice. </p>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="example-001_8cc-example.html#a5">example-001.cc</a>, <a class="el" href="example-002_8cc-example.html#a5">example-002.cc</a>, <a class="el" href="example-003_8cc-example.html#a7">example-003.cc</a>, <a class="el" href="example-004_8cc-example.html#a6">example-004.cc</a>, <a class="el" href="example-005_8cc-example.html#a6">example-005.cc</a>, and <a class="el" href="example-006_8cc-example.html#a5">example-006.cc</a>.</dd>
</dl>
</div>
</div>
<a class="anchor" id="a84f1c71ab2cd9fc6063790e9942637bd"></a>
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<div class="memproto">
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          <td class="memname"><a class="el" href="classukf_1_1parameter_1_1EvolutionNoise.html">EvolutionNoise</a>* ukf::parameter::ukf_param::evolution_noise</td>
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</div><div class="memdoc">

<p>Parameter used for the evolution noise. </p>
<p>Initial value of the evolution noise Evolution noise type </p>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="example-001_8cc-example.html#a8">example-001.cc</a>, <a class="el" href="example-002_8cc-example.html#a8">example-002.cc</a>, <a class="el" href="example-003_8cc-example.html#a10">example-003.cc</a>, <a class="el" href="example-004_8cc-example.html#a9">example-004.cc</a>, <a class="el" href="example-005_8cc-example.html#a9">example-005.cc</a>, and <a class="el" href="example-006_8cc-example.html#a8">example-006.cc</a>.</dd>
</dl>
</div>
</div>
<a class="anchor" id="a6970c2f5c4289c9fa1fe95d83b69e579"></a>
<div class="memitem">
<div class="memproto">
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          <td class="memname">double ukf::parameter::ukf_param::gamma</td>
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</div><div class="memdoc">

<p><img class="formulaInl" alt="$\gamma = \sqrt{\lambda + n}$" src="form_16.png"/> </p>

</div>
</div>
<a class="anchor" id="a6226f46479a98fdeb1321d49680e76ed"></a>
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          <td class="memname">double ukf::parameter::ukf_param::kpa</td>
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</div><div class="memdoc">

<p><img class="formulaInl" alt="$\kappa \geq 0$" src="form_11.png"/>, <img class="formulaInl" alt="$\kappa = 0$" src="form_12.png"/> is a good choice. According to van der Merwe, its value is not critical </p>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="example-001_8cc-example.html#a3">example-001.cc</a>, <a class="el" href="example-002_8cc-example.html#a3">example-002.cc</a>, <a class="el" href="example-003_8cc-example.html#a5">example-003.cc</a>, <a class="el" href="example-004_8cc-example.html#a4">example-004.cc</a>, <a class="el" href="example-005_8cc-example.html#a4">example-005.cc</a>, and <a class="el" href="example-006_8cc-example.html#a3">example-006.cc</a>.</dd>
</dl>
</div>
</div>
<a class="anchor" id="a989e990467f45b35957f7db9bd40a5e0"></a>
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          <td class="memname">double ukf::parameter::ukf_param::lambda</td>
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<p><img class="formulaInl" alt="$\lambda = \alpha^2 (n + \kappa) - n$" src="form_15.png"/> </p>

</div>
</div>
<a class="anchor" id="afdb1ce39c4a72e31df41314e2e4c4090"></a>
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          <td class="memname">int ukf::parameter::ukf_param::n</td>
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<p>Number of parameters to estimate. </p>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="example-001_8cc-example.html#a2">example-001.cc</a>, <a class="el" href="example-002_8cc-example.html#a2">example-002.cc</a>, <a class="el" href="example-003_8cc-example.html#a4">example-003.cc</a>, <a class="el" href="example-004_8cc-example.html#a2">example-004.cc</a>, <a class="el" href="example-005_8cc-example.html#a2">example-005.cc</a>, and <a class="el" href="example-006_8cc-example.html#a2">example-006.cc</a>.</dd>
</dl>
</div>
</div>
<a class="anchor" id="adf4a8620c9c81e339861b1c8a40f8809"></a>
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          <td class="memname">int ukf::parameter::ukf_param::nbSamples</td>
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<p><img class="formulaInl" alt="$nbSamples = (2 n + 1)$" src="form_17.png"/> Number of sigma-points </p>

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<a class="anchor" id="a6672a2098cafbda39c6bd4946ca701ad"></a>
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          <td class="memname">int ukf::parameter::ukf_param::no</td>
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<p>Dimension of the output. </p>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="example-004_8cc-example.html#a3">example-004.cc</a>, and <a class="el" href="example-005_8cc-example.html#a3">example-005.cc</a>.</dd>
</dl>
</div>
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<a class="anchor" id="ade187fc4a6cf6c6e9a1fcb5cf8898985"></a>
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<p>Covariance of the observation noise. </p>
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          <td class="memname">double ukf::parameter::ukf_param::prior_pi</td>
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<p>Prior estimate of the covariance matrix. </p>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="example-001_8cc-example.html#a10">example-001.cc</a>, <a class="el" href="example-002_8cc-example.html#a10">example-002.cc</a>, <a class="el" href="example-003_8cc-example.html#a12">example-003.cc</a>, <a class="el" href="example-004_8cc-example.html#a11">example-004.cc</a>, <a class="el" href="example-005_8cc-example.html#a11">example-005.cc</a>, and <a class="el" href="example-006_8cc-example.html#a10">example-006.cc</a>.</dd>
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<hr/>The documentation for this struct was generated from the following file:<ul>
<li>/home/fix_jer/SVN/easykf_trunk/trunk/easykf-2.04/src/<a class="el" href="ukf__types_8h_source.html">ukf_types.h</a></li>
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